ethz-asl/eth_supermegabot

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ethz-asl/eth_supermegabot

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Instructions for ETH center for robotics summer school 2019.

ETH SuperMegaBot

Build your own autonomous all-terrain robot.

This repository contains all hardware designs, code and part lists and instructions to build and setup a fully autonomous all-terrain mobile robot.

Quick-start

If your robot is all set-up and you only want to set-up and use the software on client side, please follow these instructions:

Robot / personal computer software setup
(Optional) Maplab setup
Connecting to robot
Tutorials
Troubleshooting
- Software
- Hardware
Safety

Robot Manufacturing

Building the hardware components is straightforward. All drawings are ready prepared to be produced with various production techniques. The overall CAD models were created with NX 12 and can be downloaded online.

Furthermore, we have readily prepared drawings to be send as jobs for:

Electronics Manufacturing

Robot Assembly

Robot-setup

After robot assembly, its computer and network need to be setup:

Robot software setup (analogously to personal computer)
Robot network setup

Organisation

This robot was designed in the ETH Construction Robotics group.

kalibr

The Kalibr visual-inertial calibration toolbox

maplab

A Modular and Multi-Modal Mapping Framework

voxblox

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.

rotors_simulator

RotorS is a UAV gazebo simulator

okvis

OKVIS: Open Keyframe-based Visual-Inertial SLAM.

rovio

segmap

A map representation based on 3D segments

ethzasl_msf

MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)

lidar_align

A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensor

hfnet

From Coarse to Fine: Robust Hierarchical Localization at Large Scale with HF-Net (https://arxiv.org/abs/1812.03506)

mav_active_3d_planning

Modular framework for online informative path planning.

mav_trajectory_generation

Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.

polygon_coverage_planning

Coverage planning in general polygons with holes.

aerial_mapper

Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVs

voxgraph

Voxblox-based Pose graph optimization

robust_point_cloud_registration

Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")

mav_voxblox_planning

MAV planning tools using voxblox as the map representation.

hand_eye_calibration

Python tools to perform time-synchronization and hand-eye calibration.

dynablox

Real-time detection of diverse dynamic objects in complex environments.

voxblox-plusplus

A volumetric object-level semantic mapping framework.

mav_control_rw

Control strategies for rotary wing Micro Aerial Vehicles using ROS

ethzasl_sensor_fusion

time delay single and multi sensor fusion framework based on an EKF

nbvplanner

A real-time capable exploration and inspection path planner (next best view planning)

panoptic_mapping

A flexible submap-based framework towards spatio-temporally consistent volumetric mapping and scene understanding.

ethzasl_icp_mapping

3D mapping tools for robotic applications

okvis_ros

OKVIS: Open Keyframe-based Visual-Inertial SLAM (ROS Version)

versavis

An Open Versatile Multi-Camera Visual-Inertial Sensor Suite

kitti_to_rosbag

Dataset tools for working with the KITTI dataset raw data ( http://www.cvlibs.net/datasets/kitti/raw_data.php ) and converting it to a ROS bag. Also allows a library for direct access to poses, velodyne scans, and images.

laser_slam

This package provides an end-to-end system to laser-based graph SLAM using laser point clouds.

geodetic_utils

Simple library for converting coordinates to/from several geodetic frames (lat/lon, ECEF, ENU, NED, etc.)

COIN-LIO

🪙 COIN-LIO: Complementary Intensity-Augmented LiDAR Inertial Odometry (ICRA 2024)

image_undistort

A compact package for undistorting images directly from kalibr calibration files. Can also perform dense stereo estimation

ethzasl_ptam

Modified version of Parallel Tracking and Mapping (PTAM)

wavemap

Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mapping

cblox

Voxblox-based submapping

aslam_cv2

glocal_exploration

Efficient local and global exploration on submap collections with changing past pose estimates.

volumetric_mapping

A repository for 3D volumetric (occupancy) maps, providing a generic interface for disparity map and pointcloud insertion, and support for custom sensor error models.

vgn

Real-time 6 DOF grasp detection in clutter.

hierarchical_loc

Deep image retrieval for efficient 6-DoF localization

orb_slam_2_ros

ROS interface for ORBSLAM2!!

mav_dji_ros_interface

Interface of DJI autopilot based on its OSDK (3.2)

lidar_undistortion

Catkin package that provides lidar motion undistortion based on an external 6DoF pose estimation input.

programming_guidelines

This repository contains style-guides, discussions, eclipse/emacs auto-formatter for commonly used programming languages

tsdf-plusplus

TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstruction

odom_predictor

Integrates an IMU to predict future odometry readings

depth_segmentation

A collection of segmentation methods working on depth images

grid_map_geo

Geolocalization for grid map using GDAL.

neuralblox

Real-time Neural Representation Fusion for Robust Volumetric Mapping

StructuralInspectionPlanner

ASL Structural Inspection Planner

phaser

A robust pointcloud registration pipeline based on correlation.

terrain-navigation

Repository for Safe Low Altitude Navigation in steep terrain for fixed-wing Aerial Vehicles

waypoint_navigator

Stand-alone waypoint navigator

ethzasl_xsens_driver

Driver for xsens IMUs

mav_tools_public

General launch files, parameters and wiki entries on our systems and related issues

data-driven-dynamics

Data Driven Dynamics Modeling for Aerial Vehicles

reinmav-gym

Reinforcement Learning framework for MAVs using the OpenAI Gym environment

cuckoo_time_translator

algorithms for synchronizing clocks

minkindr

A minimal library for transformations, following the kindr interface. Uses active quaternions of rotation in Hamilton notation.

unreal_airsim

Simulation interface to Unreal Engine 4 based on the AirSim plugin.

waverider

RMPs on multi-resolution occupancy maps for efficient reactive collision avoidance

ethz_piksi_ros

ROS drivers for the Piksi RTK GPS module

sl_sensor

SL Sensor: An open-source, real-time and ROS-based structured light sensor for high accuracy construction robotic applications

voxblox_ground_truth

Create ground truth voxblox maps from Gazebo worlds or .ply files

vicon_bridge

This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and allows to calibrate an origin of the vehicle(s) as this is somehow tedious with the VICON Tracker.

ros-system-monitor

System monitoring tools for ROS.

navrep

curves

A library of curves for estimation.

schweizer_messer

Programming tools for robotics.

time_autosync

Automatically syncs a camera to a rigidly attached IMUs time frame

unreal_cv_ros

Unreal CV ROS Perception Simulator

ai_for_robotics

Programming Exercises Accompanying the Lecture "Artificial Intelligence for Robotics"

lcd

Line Clustering and Description for Place Recognition

trajectory_toolkit

Python tool for analyzing and evaluating trajectory data

dataset_tools

Loader for the generic ASL dataset formats.

rl-navigation

asl-student-templates

Templates and overview information for student projects at ASL

libseekthermal

Driver library for Seek Thermal imaging devices

reactive_avoidance

Reactive obstacle avoidance using raytracing or lidars

plotty

matplotlib-cpp with Eigen interfaces.

forest_gen

Generates randomized Poisson forests to use for UAV collision avoidance evaluations.

3d_vsg

3D Variable Scene Graphs for long-term semantic scene change prediction.

sampling_based_control

Jupyter Notebook

mav_comm

This repository contains message and service definitions used for mavs. All future message definitions go in here, existing ones in other stacks should be moved here where possible.

tmplanner

Terrain monitoring planner

3d3l

Deep Learned Keypoint Detection and Description for 3D LiDARs

fgsp

Jupyter Notebook

autolabel

A project for computing high-quality ground truth training examples for RGB-D data.

mav_gtsam_estimator

A GTSAM based state estimation framework.

visensor_node

Visual inertial SLAM sensor ROS node.

Learn-to-Calibrate

We utilize deep reinforcement learning to obtain favorable trajectories for visual-inertial system calibration.

cvae_exploration_planning

Learning informed sampling distributions and information gains for efficient exploration planning.

active_grasp

Closed-loop next-best view planning for grasp detection in clutter.

two_state_information_filter

ssc_exploration

Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and Planning

maplab_rovio

Hard-fork of ROVIO to integrate localization.

rtklibros

rtklib with ros interfacing and adapted feedback from external Kalman filter

libvisensor

Low level hardware driver for the visual inertial SLAM sensor.

3dsnet

3DSNet: Unsupervised Shape-to-shape 3D Style Transfer

mav_system_identification

Matlab scripts to perform system identification for muti-rotor systems